I think this is a strange concept for many, but for those who do something that requires impact regularly it makes complete sense. I remember explaining the concept to my daughter when she started rhythmic gymnastics and it would hurt to catch the apparatus. It became less painful over time.
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It's like playing guitar, when you start your fingers hurt, the more you play the more it hurts but if you keep practicing up to when you can't bear the pain but without injuring your fingers, then your finger will get conditioned and you will not feel pain anymore. For martial arts training, you could say to keep getting hit until you can't feel the pain anymore but that wouldn't make sense, what makes sense is to do controlled exercises that will progressively condition your whole body and this is what Iron Shirt does, not only it conditions your body externally but it does it internally too (meditative side of Qigong, breathing, balance etc...).